KR20170049990A

KR20170049990A - Apparatus for generating beads of virtual welding trainning simulator

Info

Publication number: KR20170049990A
Application number: KR1020150150971A
Authority: KR
Inventors: 신상호; 김맹남; 이동엽; 조성호
Original assignee: (주)토탈소프트뱅크
Priority date: 2015-10-29
Filing date: 2015-10-29
Publication date: 2017-05-11
Also published as: KR101874824B1

Abstract

The present invention relates to a bead generating apparatus of a virtual welding training simulator capable of generating virtual beads similar to actual ones during virtual welding training.
The present invention relates to a designing part for designating a measuring bead in consideration of actual welding data for welding conditions and actual welding data for actual welding; An input unit for inputting actual beads designed by the designing unit as bead data of virtual welding training; A calculator for calculating a shape of a bead according to a welding condition for performing a current virtual welding training and a welding result based on the bead data input from the input unit; And an output unit for visually outputting the shape of the bead calculated in the operation unit.

Description

TECHNICAL FIELD [0001] The present invention relates to a bead generating apparatus for a virtual welding training simulator,

The present invention relates to a bead generating apparatus of a virtual welding training simulator capable of generating virtual beads similar to actual ones during virtual welding training.

In general, welding technology is a technique used in many fields such as heavy industry, shipbuilding, automobile, semiconductor, plant facility, electric and electronics, and craft, and it requires a lot of actual training.

In addition, welding education is being conducted for many students at industrial high school, meister ko, vocational college, and polytechnic university in order to produce professional skilled welding person.

However, if the welding and welding training using the welding rod is actually carried out, it can be exposed to diseases and accidents such as gas poisoning, flashing, dizziness, confusion, skin burn, keratoconjunctivitis, The wearing temperature of the work clothes and the helmet increases to 40 DEG C or higher, and the education / training environment becomes poor.

In addition, it is not easy to provide a welding environment such as welding wire, welding rod, training material, cloth, gas, and consumable tool, and it is not easy to repeatedly train due to an increase in the cost of welding material. Further, energy saving, There is a need for education methods that can prepare for disposal of materials.

In order to overcome the disadvantages of the actual welding education as described above, a simulator capable of welding training in a virtual reality is being developed. In order to improve the effectiveness of the actual welding training through the virtual welding training, It is necessary to implement the virtual welding result so that it coincides with the result of actual welding.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a bead generating apparatus for a virtual welding training simulator capable of generating virtual beads similar to actual ones during virtual welding training.

The present invention relates to a designing part for designating a measuring bead in consideration of actual welding data for welding conditions and actual welding data for actual welding; An input unit for inputting actual beads designed by the designing unit as bead data of virtual welding training; A calculator for calculating a shape of a bead according to a welding condition for performing a current virtual welding training and a welding result based on the bead data input from the input unit; And an output unit for visually outputting the shape of the bead calculated in the operation unit.

The bead generating device of the virtual welding training simulator according to the present invention may be realized by storing the bead data by using actual measurement data according to the welding condition and the welding result, And the bead shape is visually displayed.

Therefore, by expressing the shape of the beads similar to the actual welding at the time of the virtual welding training, there is an advantage that the accuracy and reliability of the virtual welding training and the effect thereof can be enhanced.

1 is a block diagram showing a bead generating apparatus of a virtual welding training simulator according to the present invention.
FIG. 2 is a table showing the welding conditions and the result of the welding performed by the actual welding in the designing part of FIG. 1;
Fig. 3 is a view showing a set point of cross-sectional information of the actual bead in the input section of Fig. 1; Fig.
FIG. 4 is a table storing coordinate information of a predetermined point in the input unit of FIG. 1 as data. FIG.
FIG. 5 is a block diagram illustrating a process of calculating a bead shape in the operation unit of FIG. 1. FIG.
FIG. 6 is a diagram illustrating a process of generating a bead shape as a curve with a spline function in the operation unit of FIG. 1; FIG.
Figure 7 compares the bead shape produced according to the present invention with the actual bead section.
Figure 8 is a visualization of the bead shape in the output of Figure 1;

Hereinafter, the present embodiment will be described in detail with reference to the accompanying drawings. It should be understood, however, that the scope of the inventive concept of the present embodiment can be determined from the matters disclosed in the present embodiment, and the spirit of the present invention possessed by the present embodiment is not limited to the embodiments in which addition, Variations.

1 is a block diagram showing a bead generating apparatus of a virtual welding training simulator according to the present invention.

As shown in FIG. 1, a bead generating apparatus of a virtual welding training simulator according to the present invention includes a designing unit 110 for designating a real bead, an input unit 120 for inputting real beads as bead data, An operation unit 130 for calculating a bead shape based on the bead shape, and an output unit 140 for outputting a bead shape for visualization.

The designing unit 110 is a part for designing a bead to be made as a result of performing actual welding, and designing a measurement bead in consideration of a change in actual bead shape according to a welding condition and a welding performance result.

Usually, the actual welding process is different depending on the welding method and the type of the base material, and the shape of the beads actually produced by welding depends on the welding voltage and current, the working angle, the traveling angle and speed of the torch, and the length of the arc.

In the embodiment, the welding conditions of the designing unit 110 include a welding method such as FCAW (flux cored arc welding), SMAW (coated arc welding), TIG (inert gas tungsten welding), BOP, T- Groove, Pipe 50A, Pipe 150A, Flange 50A, Flange 150A.

In the embodiment, the welding result of the designing unit 110 considers the welding voltage and the current, the working angle, the traveling angle and the speed of the torch, and the arc length. Can be obtained.

Accordingly, the designing unit 110 designates the actual bead in consideration of various welding conditions and welding performance results, and acquires the designed bead as a sample by performing actual robot welding.

The input unit 120 inputs the actual bead designed by the design unit 110 as bead data of the virtual welding training, and inputs the actual bead of the sample made by robot welding as the bead data by the set measurement method.

In detail, the input unit 120 selects a set point among the cross-sectional information of the actual bead, stores the coordinate information of the selected point as data, and inputs the stored data as bead data.

In the embodiment, the input unit 120 selects the point having the highest height among the cross-sectional information of the actual bead, the end point on both sides with respect to the cross point information, and three points between the end point and the nine points, Coordinate information is stored as bead data, and bead data is input based on the database, which will be described in detail below.

The calculation unit 130 receives the bead data corresponding to the welding condition and the welding result for performing the present virtual welding from the input unit 120 and calculates the shape of the bead by utilizing the bead data. To calculate the bead shape connected with a curve similar to the actual bead shape.

In an embodiment, the operation unit 130 calculates a bead shape using a curve passing through all the coordinates of the nine points of the bead data using the spline function.

At this time, the arithmetic unit 130 can calculate a bead shape of a smooth curve using a spline function having a high degree, but it is preferable to use a cubic spline function to calculate a spline curve that can be converted into a Bezier curve.

The output unit 140 visually outputs the shape of the bead calculated by the operation unit 130, and provides the virtual shape in a virtual reality according to a welding method for performing a virtual welding at present and a base material type.

FIG. 2 is a table showing the welding conditions and the results of welding performed by the designing unit of FIG. 1; FIG.

In order to form the shape of the bead generated through the virtual welding training of the present invention to be the same as the shape of the bead generated through actual welding, the welding method, the base material shape, the base material thickness, the voltage, The standard data should be designed for each angle, angle of travel, arc length.

Since the shape of the bead depends on the welding method and the material of the base material, the actual welding bead should be designed according to the welding method and the base material.

Since the voltage and current also depend on the welding method and the base material, they should be considered when designing the actual weld bead.

For example, if the base material is mild steel, it is necessary to set the voltage and current higher than the other base materials because it requires high temperature to melt the base material. However, when the base material is aluminum and stainless steel, do.

Work angle, run angle, arc length, and speed should be considered when designing the actual weld bead because the value changes with the movement of the torch during training of the trainee.

Of course, the factors mentioned above may not be a problem if the setting is adjusted, the working angle, the angle of advance, the arc length, and the speed, but depending on the technical ability of the trainee, .

Therefore, in order to obtain accurate actual data, it is necessary to perform the welding with the condition determined by the robot rather than the human, and the condition value of the robot welding can be designed as shown in FIG. 1 to sample the actual welding result.

FIG. 3 is a view showing a set point of cross-section information of the actual bead in the input unit of FIG. 1, and FIG. 4 is a table storing coordinate information of a point selected by the input unit of FIG. 1 as data.

When the actual bead is formed in the sample by robot welding, the sample is cut to obtain the measured data, and the cut surface of the measured bead is photographed with an electron microscope as shown in Fig.

Specifically, the ratio of the scale is adjusted using a measurement program, and as shown in Fig. 3, one point (a) at the top of the bead and one point (b, c) Each of the three points is selected, and the measurement is performed at the nine points.

Of course, the method of selecting three points between the top end (a) and the left end (b) and the left end (b) of the bead is selected based on the point where the bending occurs. It is preferable to select three points because there are no more than two bends.

As described above, the nine coordinate information of the actual bead is converted into bead data by matching with the data generation condition table as shown in FIG.

In this case, 9 points are defined as P1 to P9 from the left end point to the right end point, and the information of P for each point is composed of X and Y axes, and the X axis of P1 to P4 is (-) , And the X axis of P6 to P9 is marked with (+).

Therefore, the width information of the bead can be derived through the interval between P1 and P9, and the height information of the bead can be derived through P5 indicating the highest point of the bead.

FIG. 5 is a block diagram illustrating a process of calculating a bead shape in the operation unit of FIG. 1, and FIG. 6 illustrates a process of generating a bead shape by a spline function in a calculation unit of FIG. 1 as a curve.

Using the bead data stored in the database, the neural network algorithm is applied as shown in FIG. 5, and the shape of the bead is predicted by substituting the welding condition and the welding performance result that the trainee performs the virtual welding.

At this time, the neural network is a mathematical model aiming at expressing some characteristics of brain function by computer simulation. Neuronal network changes the synaptic bonding strength through artificial neurons that form a network by the synapse combination, It is a model with problem solving ability.

In the present invention, the neural network algorithm is applied to determine the bead shape according to the voltage and current of the welding machine, the working angle, the traveling angle, the speed and the arc length of the torch.

When the trainee performs the virtual welding training, the input value is given. If given the voltage, current, work angle, run angle, velocity and arc length as the input values, And derives the coordinate information.

Of course, when the trainer performs virtual welding training, a lot of actual data is needed because the working angle, the traveling angle, and the velocity arc length are continuously changed. However, since it is necessary to determine the shape of the bead according to the input value in a situation where it is difficult to obtain a large number of data, the neural network algorithm is applied to compare the information with the previously learned database node information, Information can be extracted.

When the coordinate information of the bead is extracted as described above, a spline function is applied as shown in FIG. 6 to generate a shape of the bead as a curve.

At this time, the coordinate information is defined as a control point defining the curve at nine points of the bead, and a spline function of passing through the control points of the curve is applied.

Specifically, two points on another line of the point needed to calculate the point on the curve are necessary as shown in FIG. At this time, if the value t defining the portion of the nearest two control points defines the position, the control points P0, P1, P2, P3, and the variable t are given and the position of the point is determined by the spline function shown in [Equation 1] Can be calculated.

[Equation 1]

Therefore, by applying the coordinate information of the bead to the spline function, it is possible to calculate the shape of the bead having a gentle shape and the shape of the bead having a large curvature.

7 is a view comparing the bead shape calculated in the calculation unit of FIG. 1 with the measured bead end face.

The data such as the welding conditions obtained from the actual welding and the results of the welding are set to the same in the virtual welding, the virtual welding is performed in the same manner as the robot welding, and then the virtual bead sectional information at the same point where the actual specimen is cut is obtained And comparing the right virtual bead end face with the left actual bead end face as shown in FIG. 7, the following is obtained.

Of course, the actual bead section on the left side is taken with an optical measuring instrument, and the virtual bead section on the right side is the result of virtually welding according to the above procedure.

As a result of analyzing the accuracy of the cross section of the virtual bead, which expresses the bead shape with a gentle bead shape and the bead shape with a large curvature, compared to the actual bead section, the gentle virtual bead has a high accuracy of 98% The accuracy is 95%.

As described above, the virtual beads can be formed in a shape similar to an actual bead even in a gentle shape or a shape with severe bending.

FIG. 8 is a diagram showing a bead shape in the output portion of FIG. 1; FIG.

As shown in FIG. 8, the imaginary bead shape can be output to the VR screen according to the welding condition for performing the virtual welding and the welding result, and can be supported to be visualized as follows.

At this time, the output of the screen supports welding methods such as FCAW (Flux Cored Arc Welding), SMAW (Covered Arc Welding) and TIG (Inert Gas Tungsten Welding), and BOP, T-Fillet, It supports V-Groove, Pipe 50A, Pipe 150A, Flange 50A, Flange 150A base material types and can also support bead shape according to mild steel, aluminum and stainless steel materials.

110 design section 120 input section
130: Operation unit 140:

Claims

A designing unit for designating a measuring bead in consideration of actual conditions of welding according to welding conditions and actual welding results;
An input unit for inputting actual beads designed by the designing unit as bead data of virtual welding training;
A calculator for calculating a shape of a bead according to a welding condition for performing a current virtual welding training and a welding result based on the bead data input from the input unit; And
And an output unit for visually outputting the shape of the bead calculated by the operation unit.

The method according to claim 1,
Wherein,
Bead Generator for Virtual Welding Training Simulator with Welding Type, Base Material Type, and Base Material Thickness as Welding Conditions.

3. The method of claim 2,
Wherein,
A bead generator of a virtual welding training simulator that receives the voltage and current of the welding machine, the working angle of the torch, the traveling angle and the speed, and the arc length as a result of welding.

The method according to claim 1,
Wherein the input unit comprises:
A bead generation unit for selecting a set point of the actual bead information, storing coordinate information of the selected point as data, and inputting the stored data as bead data.

5. The method of claim 4,
Wherein the input unit comprises:
A virtual welding is performed in which three points are selected from the cross-sectional information of the actual beads at the highest height and between the end points and between the end points on both sides with reference to the point, and the coordinate information of the nine points is input as bead data Bead Generator of Training Simulator.

The method according to claim 1,
The operation unit,
A bead generating apparatus for a virtual welding training simulator that calculates a bead shape connected to a curve passing through all of the bead data using a spline function.

The method according to claim 1,
The output unit includes:
Wherein the bead shape is visually provided according to a welding method, a base material shape, and a base material for performing a current virtual welding training.